Pakistan finally reopened the routes after the U.S. apologized.
The rift largely led the U.S. to sever most aid to Pakistan for some time, but relations were restored in July 2012.
Since then the U.S. has delivered over $1.15 billion in security assistance to Pakistan.
Some of the items include advanced communications equipment, roadside bomb jammers, night vision goggles and surveillance aircraft.
Since July 2012, relations between Washington and Islamabad have been improving.
Sharif met with President Barack Obama and Hagel in late October in Washington.
The last Pentagon chief to visit Pakistan was Robert Gates in January 2010.
Hagel flew to Pakistan from Afghanistan, where he visited U.S. troops but declined to meet with President Hamid Karzai, who has rankled the U.S. by refusing to sign a security agreement before year's end.
